High-precision positioning butt joint device for IV-type hydrogen storage bottle inner container end socket

Abstract

The invention belongs to the technical field of hydrogen storage bottle carbon fiber winding, and particularly relates to a high-precision positioning butt joint device for IV-type hydrogen storage bottle inner container end sockets, which comprises at least one set of process plugs, every two process plugs are arranged in one set, a main body unit is arranged outside the process plugs, and a positioning unit is arranged inside the main body unit. Coaxiality adjusting units are symmetrically arranged at the two ends of the positioning unit. Through the synchronous relative movement between the blocking bin and the cross-shaped penetrating column, the decoupling ring and the cross-shaped penetrating column are promoted to keep synchronous axial movement, and then decoupling between the coaxiality adjusting unit and self axial linear dynamic adjustment of the cross-shaped penetrating column is achieved. The three dimensions are divided through kinematics orthogonality of different dimensions, isolation of a mechanical transmission path and constraint freedom degree, structural interference is eliminated, full-stroke interference-free relative independent work is achieved, meanwhile, rotation operation characteristics are perfectly matched, and degradation of dynamic precision is avoided.

Description

Technical Field

[0001] This invention belongs to the field of carbon fiber winding technology for hydrogen storage cylinders, specifically relating to a high-precision positioning and docking device for the inner liner end cap of a Type IV hydrogen storage cylinder. Background Technology

[0002] During the carbon fiber winding process of hydrogen storage cylinders, the coaxiality accuracy between the main shafts and tailstocks at both ends of the inner liner, and the radial runout control accuracy during the rotation of the inner liner, are important foundations for ensuring that the carbon fiber winding shape fully meets the design requirements, the layer thickness is uniform, and the stress distribution is reasonable. Deviations in coaxiality or excessive radial runout will directly cause the carbon fiber placement to deviate from the design path, resulting in irreversible defects such as carbon fiber slippage, gaps, overlap, and mismatch in layer stress distribution. Ultimately, this will cause the hydrogen storage cylinder to fail to meet the burst pressure, its fatigue life to drop sharply, and even lead to high-pressure hydrogen leakage. Currently, the industry primarily employs the following technical solutions for controlling the clamping and runout of the inner liner in hydrogen storage cylinder winding machines: 1. Fixed rigid clamping: This method lacks any dynamic correction capability and cannot address coaxiality deviation and radial runout degradation caused by factors such as viscoelastic creep of the Type IV inner liner, alternating winding tension of carbon fiber, or fluctuations in inner liner inflation pressure during the winding process; 2. Passive flexible clamping: This method achieves axial flexible clamping by adding disc springs and buffer pads at the tailstock end, but lacks any radial runout correction capability; 3. Offline coaxiality adjustment: This method achieves static coaxiality correction by adding servo micro-adjustment slides to the spindle box and tailstock, but adjustments can only be made when the machine is stopped, and cannot achieve real-time dynamic correction during the winding operation; The aforementioned technical solutions cannot solve the problem of strong coupling between axial clamping and limiting and radial dynamic correction. That is, they cannot achieve axial flexible limiting and suppress axial movement without interfering with the dynamic linear adjustment in the radial direction. At the same time, the aforementioned technical solutions can usually only achieve relative position correction at a single dimension level, and cannot adapt to complex jumping conditions caused by uneven creep or local deformation of the inner liner, so as to achieve unified linear dynamic coordination adjustment in multiple dimensions. In summary, the existing technology lacks a clamping and correction structure that is suitable for the mass production of gantry-type multi-station hydrogen storage cylinder carbon fiber winding machines, can achieve real-time dynamic linear correction of radial runout, and can completely decouple axial and radial directions, while also being safe, low-cost, and adaptable to flexible production of multiple specifications. Summary of the Invention

[0003] To solve the above problems, the present invention adopts the following technical solution: a high-precision positioning and docking device for the inner liner of a type IV hydrogen storage cylinder, including process plugs, which are arranged in pairs and at least one pair. The process plugs are provided with a main body unit on the outside, and a positioning unit is provided inside the main body unit. The positioning unit is provided with coaxiality adjustment units at both ends in a symmetrical manner. The coaxiality adjustment unit includes: The decoupling ring is coaxially positioned on one side of the process plug. At least one corner block is installed circumferentially and uniformly on the outer wall of the decoupling ring; The edge ring is snapped into place at the middle position of the inner wall of the decoupling ring; The reinforcing bars are uniformly snapped together and installed on the inner wall of the edge ring in a circumferential manner. The crescent ring is snapped onto the end of the reinforcing column near the axis of the edge ring. The symmetrical arc-shaped openings are located in the middle of the outer wall of the vertical sections on both sides of the crescent ring. The linkage rod is snapped into place at the middle position of one end of the crescent rod on the inner wall near the decoupling ring axis.

[0004] Preferably, a key plate is circumferentially and uniformly snapped onto the end face of the decoupling ring away from the decoupling spring. A guide seat is slidably snapped onto the middle position of the key plate. A guide rod, which is slidably snapped onto the same key plate, is through-fitted onto the middle position of the guide seat. A straight crank is rotatably fitted onto the outer wall of the guide rod away from the decoupling ring. An angular crank, which is rotatably fitted onto the outer wall of the guide rod, is coaxially arranged on the side of the straight crank away from the decoupling ring. The lengths of the angular crank and the straight crank are equal. A tooling rod, which is slidably snapped onto the same side arc opening, is rotatably fitted onto the ends of both the angular crank and the straight crank away from the guide rod. The tooling rod passes through the crescent ring. A ball sleeve is snapped onto the middle position of the tooling rod. The ball sleeve is slidably snapped onto the inner wall of the crescent ring near the axis of the tooling ring.

[0005] Preferably, the inner wall of the tooling ring is uniformly fitted with fish-shaped blocks in a circumferential manner, in pairs, and at least in one pair. Furthermore, the two fish-shaped blocks in the same pair are symmetrically distributed relative to the ribs. A pressure-holding tube is fitted with the inner wall of the ball sleeve. A disc ring is slidably fitted with the inner wall of the pressure-holding tube away from the axis of the decoupling ring. An end rod is fitted with the disc ring through the axis. A bottom ring is fitted with the inner wall of the pressure-holding tube near the decoupling ring, and the bottom ring is slidably fitted with the end rod. A compression spring sleeved on the outer wall of the end rod is fitted together between the opposing surfaces of the disc ring and the bottom ring. A ball bearing is rolled and fitted with the end rod away from the axis of the decoupling ring. An arc plate is fitted with the end rod away from the ball bearing. Side lugs are fitted with the outer walls of both ends of the arc plate, and one of the side lugs is hollow inside.

[0006] Preferably, a sealing sleeve is snapped onto one end of the pressure-holding tube near the axis of the decoupling ring. A serpentine groove is formed on the inner wall of the sealing sleeve. A lead sleeve is snapped onto the outer wall of the same end rod on the side of the bottom ring near the axis of the decoupling ring. A lead rod that matches the serpentine groove is snapped onto the outer wall of the lead sleeve. Continuously distributed arcuate ribs are snapped onto the outer wall of the lead sleeve in a circumferentially uniform manner. An annular valve body is snapped onto the middle position of the end face of the corner arc plate on the side away from the axis of the decoupling ring. A spring piston is slidably snapped onto the inner wall of the annular valve body.

[0007] Preferably, a sealing plate is slidably installed inside the hollow side ear seat via a sealing ring. A telescopic spring column, slidably fitted to the side ear seat, is symmetrically fitted onto the end face of the sealing plate. An outer support corner pad is fitted onto the end of the telescopic spring column away from the end rod axis. A protective pad is slidably fitted onto the opposing surfaces of the two side ear seats in the same group. A protective plate is fitted onto the end of the protective pad away from the outer support corner pad. A flexible rubber ring is fitted onto the end of the outer support corner pad near the decoupling ring axis. A corner connector connected to the flexible rubber ring is fitted onto the end face of the outer support corner pad away from the decoupling ring axis via a plug-in connection. A limit post is fitted onto the middle position of the end face of the protective pad away from the decoupling ring axis.

[0008] Preferably, the end pressure tubes are evenly distributed circumferentially in the middle of the protective plate, and the end pressure tubes are connected to the protective plate through a snap-fit ​​assembly. A sealing gasket is snap-fitted onto the inner wall of the end pressure tube, and a spring column is slidably snap-fitted onto the center of the sealing gasket. A rubber ball is snap-fitted onto one end of the spring column near the axis of the decoupling ring.

[0009] Preferably, a cross-shaped insert is slidably engaged with the inner wall of one end of the process plug; a shaft seat, which is slidably engaged with the inner wall of the process plug, is engaged with the outer wall of the cross-shaped insert away from the decoupling ring; a main bearing seat, which is slidably engaged with the inner wall of the process plug, is engaged with the outer wall of the cross-shaped insert near the decoupling ring; an axial spring sleeved on the outer wall of the cross-shaped insert is engaged with the opposing surfaces of the shaft seat and the main bearing seat; a bushing is engaged with the outer wall of the cross-shaped insert away from the shaft seat; a rod of the same side is engaged with the outer wall of the bushing; a convex engagement rod that mates with the rod of the same side is rotatably engaged with the outer side of the bottom wall of the process plug away from the shaft seat; and a roller clutch that is threadedly engaged with the main bearing seat is engaged with the outer wall of the convex engagement rod near the shaft seat.

[0010] Preferably, the main body unit includes: There are two gantry columns, which are staggered and set outside the process plug; The bed base consists of one piece, which is snapped into place at the end of the gantry column closest to the ground. The anti-slip platform is snap-fitted onto the outside of the bed frame base; The gantry beam is snap-fitted between the two opposite faces of the gantry columns; Two tailstock moving guide rails are symmetrically snapped onto the end face of the horizontal section of the bed base that faces away from the ground. The tailstock housing is slidably mounted between the two tailstock moving guide rails via a sliding block.

[0011] Preferably, the positioning unit includes: There are two sets of uprights, which are symmetrically distributed. One set of uprights is arranged in an array on the vertical section of one side of the tailstock box, and the uprights are rotatably fitted to the tailstock box. The other set of uprights is rotatably fitted to one of the gantry columns. The tailstock is installed in an array-like snap-fit ​​configuration between one of the gantry columns and the opposite face of the tailstock housing, and the tailstock is rotatably fitted with the upright. A three-jaw chuck is snapped into place between the opposite sides of the tailstock. The three-jaw chuck bearing is plugged into and snapped onto the shaft of the three-jaw chuck. The blocking chamber is located between the three-jaw bearing and the opposite face of the process plug, and the blocking chamber is snap-fitted to the process plug; in addition, the decoupling ring is located inside the blocking chamber, and the axes of the two coincide, while the corner block is snap-fitted to the inner wall of the blocking chamber. The bottle valve seat is symmetrically arranged between the two process plugs in the same group, and the bottle valve seat and the process plug are threaded together. The hydrogen storage cylinder is snap-fitted between two cylinder valve seats in the same group; A three-phase asynchronous motor is positioned opposite to the outside of the tailstock housing, and the output end of the three-phase asynchronous motor passes through one of the gantry columns and is snapped together with the vertical rod in the middle of its interior. There are two sets of pulleys, which are arranged in a staggered arrangement. One set of pulleys is respectively engaged with the outer walls of the two uprights that are close to the ground at the end away from the tailstock housing. The other set of pulleys is respectively engaged with the outer walls of the two uprights that are opposite to the ground at the end near the tailstock housing.

[0012] Preferably, the outer wall of the end of the engagement rod away from the bearing seat has a helical groove that mates with the rod on the same side, and the end face of the bearing seat has a through hole through which the engagement rod passes.

[0013] The method for dynamically and linearly adjusting the coaxiality during the carbon fiber winding process of hydrogen storage cylinders uses the high-precision positioning and docking device described above for the inner liner end caps of Type IV hydrogen storage cylinders. The specific steps are as follows: S1: First, after the process plug and the bottle valve seat are screwed together by the threaded pair, the tail seat box is supported and guided by the tail seat moving guide rail, which causes the three-jaw chuck to feed axially toward the bottle valve seat to the preset stroke until the cross-shaped insert passes through the center of the shaft seat and the main bearing seat to reach the predetermined initial depth; then the three-jaw chuck is controlled to tighten radially, and the three-jaw shaft seat is self-centering and rigidly clamped to ensure that the coaxiality between the cross-shaped insert and the vertical rod remains relatively consistent; During this process, when the cross-shaped insert column exhibits axial movement, it tends to move away from the end of the vertical rod. Under the synchronous action of the cross-shaped insert column, the bushing controls the relative tangential movement between the spiral groove on the outer wall of the same-side rod and the convex engagement rod. Under the unidirectional engagement control of the convex engagement rod, the roller clutch engages with the main bearing seat via a threaded pair. Under the combined action of the threaded pair and the support and guidance of the inner wall of the process plug, the main bearing seat moves towards the shaft seat to a predetermined depth, thus linearly adjusting the actual compression of the axial spring and dynamically adjusting the axial clamping force between the process plug and the cross-shaped insert column. S2: Then, under the support and guidance of the key plate, the guide seat controls the guide rod to drive the straight crank and the angular crank to move synchronously towards each other or away from each other to a predetermined angle. At this time, under the further guidance of the outer wall arc of the crescent ring, the tooling rod synchronously controls the two relatively distributed ball sleeves to move towards each other or away from each other to a predetermined point, thereby adjusting the relative clamping angle between the pad and the outer wall of the process plug. During this process, the ball bearings and the fish-shaped block make relative squeezing contact, causing the compression spring to compress to a predetermined stroke in the direction of the decoupling ring axis, dynamically adjusting the relative clamping force between the pad and the working surface of the process plug; in addition, through the relative movement between the relatively stationary linkage rod and the relatively moving limit post, the pad is caused to move in opposite directions with the corner arc plate while following the synchronous movement of the corner arc plate, that is, the guard plate and the pad are unfolded in the opposite direction, increasing the relative contact area between the pad, the guard plate and the side ear seat and the process plug, further improving the radial runout excess suppression buffer stability under the relative clamping force gradient adjustment; S3: Finally, through the axial relative movement between the end rod and the guide sleeve, a relative tangential movement is generated between the guide rod and the guide sleeve. Then, the guide sleeve drives the arc rib to generate a relative squeezing movement between the arc rib and the spring piston, thereby realizing an instantaneous change in the air pressure inside the annular valve body. Afterwards, the end pressure tube and the flexible rubber ring are connected through the angle joint and the external hose to increase the air pressure inside the flexible rubber ring, thereby improving the relative contact stability, filling and consistency between the flexible rubber ring and the working surface of the process plug. At the same time, it further improves the relative force between the rubber ball and the working surface of the process plug, realizing multi-dimensional deep optimization of the force distribution and dynamic adjustment of the relative contact working surface between the process plug and the coaxiality adjustment unit.

[0014] The present invention has the following beneficial effects: 1. This invention, by blocking the synchronous relative motion between the chamber and the cross-shaped insert column, causes the decoupling ring and the cross-shaped insert column to maintain synchronous axial motion, thereby achieving decoupling between the coaxiality adjustment unit and the axial linear dynamic adjustment of the cross-shaped insert column itself. That is, by eliminating structural interference through three dimensions of kinematic orthogonality, isolation of mechanical transmission paths, and separation of constrained degrees of freedom, it achieves relatively independent operation without interference throughout the entire stroke, while perfectly adapting to the characteristics of rotating operations and avoiding the deterioration of dynamic accuracy.

[0015] When the inner liner of a Type IV hydrogen storage cylinder exhibits axial movement due to viscoelastic creep, carbon fiber alternating winding tension, or fluctuations in inflation pressure, the axial micro-displacement of the cross-shaped insert post is converted into the tangential rotational motion of the convex rod in real time through the relative tangential motion between the same-side rod and the spiral groove on the outer wall of the engagement rod. This triggers the one-way engagement of the roller-type one-way clutch with the main bearing seat, driving the main bearing seat to complete the threaded pair engagement feed along the support guide of the inner wall of the process plug. The actual compression of the axial spring is linearly adjusted, and the axial clamping force between the process plug and the cross-shaped insert post is dynamically corrected, compensating for changes in the axial dimensions of the inner liner in real time. The entire process requires no machine stoppage or manual intervention.

[0016] 3. This invention uses the synchronous linkage of the straight crank and the angular crank to drive the tooling rod to move along the edge arc guide, linearly adjusting the relative clamping angle of the symmetrically arranged ball sleeves. This can adapt to asymmetric radial runout caused by uneven creep and local deformation of the inner liner. On the one hand, it can optimize the distribution of force flow and improve the radial runout suppression effect in the main direction. On the other hand, it can achieve relatively dynamic symmetrical clamping. At the same time, in this process, it can relatively repair and reshape the local asymmetric deformation to a certain extent. Through the relative squeezing contact between the ball and the fish-shaped block, the compression stroke of the compression spring is linearly adjusted to achieve stepless linear adjustment of the clamping force. This can accurately adapt to radial runout of different amplitudes, ensuring sufficient clamping stiffness to suppress runout and avoiding damage to the reference surface caused by rigid clamping. In addition, by the relative movement of the relatively stationary linkage rod and the follow-up limiting post, the guard plate and the guard pad are driven to unfold in the opposite direction, adaptively adjusting the clamping contact area, optimizing the surface pressure distribution of the clamping force, improving the buffer stability of radial runout suppression, and solving the defect of the fixed contact area in the current technical solution that cannot adapt to the changes in radial runout gradient. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the overall structure of the present invention.

[0018] Figure 2 This is a planar view of a partial structure of the positioning unit in this invention.

[0019] Figure 3 This is a planar view of the positioning unit of the present invention.

[0020] Figure 4 This is a three-dimensional view of the cross-section of the internal structure of the positioning unit in this invention.

[0021] Figure 5 This is a plan view of the internal structure of the blocking chamber in this invention.

[0022] Figure 6 This is an appendix to the present invention. Figure 5 A more detailed 3D view of the central part of the structure.

[0023] Figure 7 This is a three-dimensional view of the coaxiality adjustment unit in this invention.

[0024] Figure 8 This is an appendix to the present invention. Figure 7 Partial plan view of the structure.

[0025] Figure 9 This is an appendix to the present invention. Figure 7 A three-dimensional cross-sectional view of a local part of the structure.

[0026] Figure 10 This is a partial structural planar view of the coaxiality adjustment unit in this invention.

[0027] Figure 11 This is a three-dimensional view of the pressure-holding tube and its partial structure in this invention.

[0028] Figure 12 This is an appendix to the present invention. Figure 11 Plan view of the internal structure of the pressure-holding pipe.

[0029] Figure 13 This is an appendix to the present invention. Figure 12 A magnified schematic diagram of the local structure at point A in the middle.

[0030] The diagram labels are: 1. Process plug; 2. Main unit; 3. Positioning unit; 4. Coaxiality adjustment unit. 21. Gantry column; 22. Bed base; 23. Anti-slip platform; 24. Gantry crossbeam; 25. Tailstock moving guide rail; 26. Tailstock housing; 31. Vertical rod; 32. Tailstock; 33. Three-jaw chuck; 34. Three-jaw bearing; 35. Blocking chamber; 36. Bottle valve seat; 37. Hydrogen storage cylinder; 38. Three-phase asynchronous motor; 39. Pulley; 41. Decoupling ring; 42. Corner block; 43. Edge ring; 44. Rib column; 45. Crescent ring; 46. Edge arc; 47. Linkage rod; 411. Key plate; 412. Guide seat; 413. Guide rod; 414. Straight crank; 415. Angular crank; 416. Tooling rod; 417. Ball sleeve; 421. Fish-shaped block; 422. Pressure holding tube; 423. Disc ring; 424. End rod; 425. Bottom ring; 426. Compression spring; 427. Ball bearing; 428. Angle arc plate; 429. Side ear seat; 431. Encapsulation sleeve; 432. Snake groove; 433. Lead sleeve; 434. Lead rod; 435. Arc-shaped rib; 436. Annular valve body; 437. Spring piston; 441. Sealing plate; 442. Telescopic spring column; 443. External support corner pad; 444. Protective pad; 445. Protective plate; 446. Flexible rubber ring; 447. Corner joint; 448. Limiting post; 451. End pressure tube; 452. Sealing gasket; 453. Spring column; 454. Rubber ball; 461. Cross-shaped insert; 462. Shaft seat; 463. Main bearing seat; 464. Axial spring; 465. Shaft sleeve; 466. Same-side rod; 467. Engagement rod; 468. Roller clutch. Detailed Implementation

[0031] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention.

[0032] It should be noted that the terms "vertical," "horizontal," "left," "right," and similar expressions used in this article are for illustrative purposes only and do not represent the only possible implementation.

[0033] The specific implementation of the present invention will be described in detail below with reference to specific embodiments.

[0034] Reference Figure 1 , Figure 3 and Figure 4 It is known that the high-precision positioning and docking device for the inner liner end cap of the IV type hydrogen storage cylinder 37 includes process plugs 1, which are in pairs and at least one pair. The process plugs 1 are provided with a main body unit 2 on the outside, and a positioning unit 3 is provided inside the main body unit 2. The positioning unit 3 is provided with coaxiality adjustment units 4 at both ends in a symmetrical manner. Reference Figure 1It can be seen that the main unit 2 includes: two gantry columns 21, which are staggered and set outside the process plug 1; one bed base 22, which is snapped onto the end of the gantry column 21 near the ground; an anti-slip platform 23, which is snapped onto the outside of the bed base 22; a gantry beam 24, which is snapped onto the opposite faces of the two gantry columns 21; two tailstock moving guide rails 25, which are symmetrically snapped onto the end face of the horizontal section of the bed base 22 away from the ground; and a tailstock box 26, which is slidably snapped onto the two tailstock moving guide rails 25 through a sliding block. Reference Figure 1 , Figure 2 and Figure 3 It can be seen that the positioning unit 3 includes: two sets of upright rods 31, which are symmetrically distributed. One set of upright rods 31 is arranged in an array on the vertical section of one side of the tailstock housing 26, and the upright rods 31 are rotatably fitted with the tailstock housing 26; the other set of upright rods 31 is rotatably fitted with one of the gantry columns 21; the tailstock 32 is arranged in an array and snapped between the opposite faces of one of the gantry columns 21 and the tailstock housing 26, and the tailstock 32 is rotatably fitted with the upright rods 31; the three-jaw chuck 33 is snapped between the opposite faces of the tailstock 32; the three-jaw shaft seat 34 is plugged into and snapped at the axis of the three-jaw chuck 33; the blocking chamber 35 is arranged between the opposite faces of the three-jaw shaft seat 34 and the process plug 1, and the blocking chamber 35 is snapped with the process plug 1; in addition, the decoupling ring 41 is located inside the blocking chamber 35, and the axes of the two coincide, while the corner block 42 is snapped with the inner wall of the blocking chamber 35. Bottle valve seats 36 are symmetrically arranged between two process plugs 1 in the same group, and the bottle valve seats 36 and process plugs 1 are threaded together; hydrogen storage cylinders 37 are snapped between two bottle valve seats 36 in the same group; three-phase asynchronous motors 38 are arranged opposite each other outside the tailstock housing 26, and the output end of the three-phase asynchronous motors 38 passes through one of the gantry columns 21 and is snapped together with the vertical rod 31 in the middle of its interior; there are two sets of pulleys 39, which are arranged opposite each other and staggered. One set of pulleys 39 is snapped together with the outer walls of the two vertical rods 31 that are close to the ground at the end away from the tailstock housing 26, and the other set of pulleys 39 is snapped together with the outer walls of the two vertical rods 31 that are opposite to the ground at the end of the tailstock housing 26.

[0035] Hydrogen storage cylinder 37 carbon fiber winding steps: S1: For the inner liner of the high-pressure hydrogen storage bottle 37 to be wound, the metal bottle valve seats 36 at both ends are screwed into the special process plugs 1 of the corresponding specifications through precision thread pairs to form the inner liner assembly of the hydrogen storage bottle 37 to be wound with standardized clamping interfaces. S2: Using a crane or a six-axis industrial robotic arm, the pre-assembled hydrogen storage cylinder 37 inner liner assembly is hoisted to the clamping station corresponding to the vertical roller 31 component in this application, and the posture of the hydrogen storage cylinder 37 inner liner is finely calibrated so that the rotation axis of the process plugs 1 at both ends of the hydrogen storage cylinder 37 inner liner is coaxially aligned with the reference rotation axis of the vertical roller 31 at the active end (gantry column 21 side) and the driven end (tailstock box 26 side); The tailstock housing 26 is supported and guided by the tailstock moving guide rail 25. Driven by an electric slide table, it feeds along the axial direction of the inner liner of the hydrogen storage bottle 37 toward the bottle valve seat 36 until the end face of the three-jaw shaft seat 34 is positioned and engaged with the inner liner of the bottle valve seat 36. Simultaneously, the three-jaw self-centering chucks at both ends are tightened to rigidly clamp and lock the three-jaw shaft seat 34, thus achieving precise alignment of the axial and radial positioning references of the inner liner of the hydrogen storage bottle 37. Idle run verification process: Start the equipment control system, verify the transmission synchronization between the three-phase asynchronous motor 38, pulley 39 transmission pair and vertical roller 31 assembly, confirm the multi-axis linkage accuracy of the rotational motion of vertical roller 31 and the axial movement of the winding trolley on the gantry beam 24, and at the same time verify the effectiveness of the coaxiality adjustment unit 4 in the dynamic linear clamping of the radial runout of the process plug 1, so as to avoid fiber laying line deviation and equipment operation failure in the formal winding process from the source; S3: The winding process is officially started. The three-phase asynchronous motor 38 outputs rated power, which drives the vertical roller 31 assembly to rotate at a constant speed through the pulley 39 transmission pair (in specific implementation, the belt is used as the transmission component between the pulleys 39). Then, through the three-jaw self-centering chuck and the process plug 1, the inner liner of the hydrogen storage cylinder 37 is driven to rotate at a constant speed around the reference axis. The winding trolley on the gantry beam 24 moves synchronously back and forth along the axial direction of the inner liner of the hydrogen storage cylinder 37 according to the preset winding process requirements. Through the four-axis linkage control of the circumferential rotation of the inner liner of the hydrogen storage cylinder 37 and the axial movement of the winding trolley, the fully automatic carbon fiber laying operation of the fully designed layup line type, such as circumferential winding, spiral winding and end cap special-shaped winding, is accurately completed. S4: After the carbon fiber layup is completed, the supporting external mechanism automatically performs the carbon fiber filament cutting and finishing fixing operations. The vertical roller 31 assembly and the winding trolley stop running synchronously to complete the carbon fiber winding forming operation of a single hydrogen storage cylinder 37 inner liner. Then, the inner liner of the hydrogen storage cylinder 37 is slowly depressurized in a gradient (releasing the compressed protective gas filled in during the forming process). The three-jaw chucks 33 at both ends are released to release the clamping constraint on the hydrogen storage cylinder 37 inner liner assembly. The tailstock box 26 returns to the initial standby position along the tailstock moving guide rail 25 to make room for the unloading operation. Anti-slip platform 2323: On the one hand, it provides operators with a safe operating space for loading and unloading materials, changing equipment, and maintenance; on the other hand, it prevents operators from slipping and falling in the oily environment of the workshop. Three-phase asynchronous motor 3838, pulley 3939 and vertical roller 3131: Through a single drive source, multiple hydrogen storage cylinders 3737 winding tooling structures can be operated synchronously, which reduces the cost of energy use to a certain extent.

[0036] Reference Figure 7 , Figure 8 and Figure 9 It can be seen that the coaxiality adjustment unit 4 includes: a decoupling ring 41, coaxially disposed on one side of the process plug 1; corner blocks 42, at least one, and uniformly snapped onto the outer wall of the decoupling ring 41 in a circumferential manner; a process edge ring 43, snapped onto the middle position of the inner wall of the decoupling ring 41; a rib column 44, uniformly snapped onto the inner wall of the process edge ring 43 in a circumferential manner; a crescent ring 45, snapped onto the end of the rib column 44 near the axis of the process edge ring 43; an arc-shaped opening 46, symmetrically opened in the middle position of the outer wall of the vertical section on both sides of the crescent ring 45; and a linkage rod 47, snapped onto the middle position of the inner wall of the crescent rod near the axis of the decoupling ring 41. Reference Figure 7 , Figure 8 and Figure 10 It can be seen that a key plate 411 is circumferentially and uniformly snapped onto the end face of the decoupling ring 41 away from the decoupling spring. A guide seat 412 is slidably snapped onto the middle position of the key plate 411. A guide rod 413, which is slidably snapped onto the middle position of the guide seat 412, is also slidably snapped onto the middle position of the guide seat 412. A straight crank 414 is rotatably fitted onto the outer wall of the guide rod 413 away from the decoupling ring 41. A straight crank 414 is coaxially arranged on the side of the straight crank 414 away from the decoupling ring 41, along with the guide rod 41. 3. An angular crank 415 is rotatably installed on the outer wall, and the lengths of the angular crank 415 and the straight crank 414 are equal. The ends of the angular crank 415 and the straight crank 414 away from the guide rod 413 are rotatably installed with a tooling rod 416 that is slidably snapped together with the same side arc opening 46. The tooling rod 416 passes through the crescent ring 45. A ball sleeve 417 is snapped together at the middle position of the tooling rod 416. The ball sleeve 417 is slidably snapped together with the inner wall of the crescent ring 45 on the side of the edge ring 43 near the axis of the tooling ring 43. Reference Figure 8 , Figure 10 , Figure 11 and Figure 12It can be seen that fish-shaped blocks 421 are uniformly snapped onto the inner wall of the tooling ring in a circumferential manner, in pairs, and at least in pairs. In addition, the two fish-shaped blocks 421 in the same group are symmetrically distributed relative to the reinforcing column 44. A pressure-holding tube 422 is snapped onto the inner wall of the ball sleeve 417. A disc ring 423 is slidably snapped onto the inner wall of the end of the pressure-holding tube 422 away from the axis of the decoupling ring 41. An end rod 424 is snapped onto the center of the disc ring 423 in a through-type snap-fit ​​manner. A bottom ring is snapped onto the inner wall of the end of the pressure-holding tube 422 near the decoupling ring 41. 425, and the bottom ring 425 is slidably snapped together with the end rod 424. The disc ring 423 and the bottom ring 425 are snapped together with a compression spring 426 sleeved on the outer wall of the end rod 424. The end of the end rod 424 away from the axis of the decoupling ring 41 is rolled with a ball 427. The end of the end rod 424 away from the ball 427 is snapped together with an arc plate 428. The outer walls of both ends of the arc plate 428 are snapped together with side ear seats 429, and one of the side ear seats 429 is hollow inside. Reference Figure 11 , Figure 12 and Figure 13 It is known that a sealing sleeve 431 is snapped onto one end of the pressure-holding tube 422 near the axis of the decoupling ring 41. A serpentine groove 432 is provided on the inner wall of the sealing sleeve 431. A lead sleeve 433 is snapped onto the outer wall of the same end rod 424 on the side of the bottom ring 425 near the axis of the decoupling ring 41. A lead rod 434 that cooperates with the serpentine groove 432 is snapped onto the outer wall of the lead sleeve 433. A continuously distributed arc rib 435 is snapped onto the outer wall of the lead sleeve 433 in a circumferentially uniform manner. An annular valve body 436 is snapped onto the middle position of the end face of the corner arc plate 428 away from the axis of the decoupling ring 41. A spring piston 437 is slidably snapped onto the inner wall of the annular valve body 436. Reference Figure 10 , Figure 11 and Figure 13 It can be seen that a sealing plate 441 is installed inside the hollow side ear seat 429 by sliding and snapping on the sealing rubber ring. The end face of the sealing plate 441 is symmetrically snapped on and installed with a telescopic spring column 442 that is slidably snapped on and assembled with the side ear seat 429. An outer support corner pad 443 is snapped on the end of the telescopic spring column 442 away from the axis of the end rod 424. A protective pad 444 is slidably snapped on between the opposite faces of the two side ear seats 429 in the same group. A protective plate 445 is snapped on the end of the protective pad 444 away from the outer support corner pad 443. A flexible rubber ring 446 is snapped on the end of the outer support corner pad 443 near the axis of the decoupling ring 41. An angle joint 447 connected to the flexible rubber ring 446 is snapped on the end face of the outer support corner pad 443 away from the axis of the decoupling ring 41. A limit post 448 is snapped on the middle position of the end face of the protective pad 444 away from the axis of the decoupling ring 41. Reference Figure 11 and Figure 12It can be seen that the end pressure tubes 451 are evenly distributed in the middle of the guard plate 445, and the end pressure tubes 451 and the guard plate 445 are connected in a through snap-fit ​​assembly. A sealing gasket 452 is snap-fitted on the inner wall of the end pressure tube 451. A spring column 453 is installed in a through sliding snap-fit ​​at the center of the sealing gasket 452. A rubber ball 454 is snap-fitted on one end of the spring column 453 near the axis of the decoupling ring 41.

[0037] The dynamic linear adjustment process of radial runout at the first-level dimension: Under the support and guidance of the key plate 411, the guide seat 412 controls the guide rod 413 to synchronously drive the straight crank 414 and the corner crank 415 to rotate towards or away from each other by a predetermined angle. Under the further guidance of the side arc opening 46, the two tooling rods 416 in the same group drive the ball sleeve 417 to drive the pressure holding tube 422 to move towards or away from each other by a predetermined stroke, thus completing the dynamic linear adjustment of the angle between the axis of the pressure holding tube 422 and the axis of the process plug 1. Second-dimensional radial runout dynamic linear adjustment process: During the movement of the pressure holding tube 422 following the tooling rod 416, it synchronously controls the ball 427 to generate relative contact and squeezing motion with the fish-shaped block 421 in a relatively stationary state. Since the working surfaces of the fish-shaped block 421 and the ball 427 are relatively smooth "wavy smooth" planes, it can change the relative action angle, improve the force distribution in the main direction, and simultaneously linearly improve the relative clamping force between the pad 444 and the side ear seat 429 and the process plug 1, thereby achieving a more advanced level of deep radial runout suppression mechanism. Three-dimensional radial runout dynamic linear adjustment process: The relative motion difference between the linkage rod 47 and the limiting post 448 causes the pad 444 to move in opposite directions to the corner arc plate 428 under the support and guidance of the side ear seat 429. This completes the unfolding of the pad 444 relative to the corner arc plate 428, increases the relative contact working width between the initial side ear seat 429 and the pad 444 and the process plug 1, and increases the relative friction. This also improves the relative working stability between the process plug 1 and the pad 444 and the side ear seat 429 (in specific implementation, the pad 444 and the side ear seat 429 are slidably fitted together by a spring assembly to ensure the unfolding and resetting of the pad 444). Fourth-level radial runout dynamic linear adjustment process: Prerequisite: The end rod 424 undergoes relative axial movement under the relative motion of the ball 427 and the fish-shaped block 421; Under the synchronous action of the end rod 424, the lead sleeve 433 controls the relative tangential movement between the lead rod 434 and the encapsulation sleeve 431, which in turn causes the encapsulation sleeve 431 to synchronously control the relative compression movement between the arc rib 435 and the spring piston 437. During the axial movement, the spring piston 437 compresses the internal space of the annular valve body 436, causing the inert gas inside the annular valve body 436 to flow into the area of ​​the angle joint 447 and the end pressure tube 451 through the external hose (in specific implementation, the gas inside the annular valve body 436 can be continuously filled by the external structure). The flexible rubber ring 446 and the rubber ball 454 change the relative contact force with the process plug 1 during the process of increasing gas pressure gradient, providing a further radial runout threshold suppression mechanism. Flexible rubber ring 446: When the stable gradient air pressure increases, it provides relatively stable clamping support at any point on the end face of the process plug 1 (in the scenario of gradually unfolding with the outer support corner pad 443). Rubber ball 454: Through multi-point gradient pressure feeding in the circumferential direction, it provides a relatively linear reverse clamping and suppression support environment to the outer wall of the process plug 1.

[0038] Reference Figure 5 and Figure 6 It can be seen that a cross-shaped insert post 461 is slidably snapped onto the inner wall of one end of the process plug 1. A shaft seat 462, which is slidably snapped onto the outer wall of the cross-shaped insert post 461 away from the decoupling ring 41, is snapped onto the outer wall of the same end as the process plug 1. A main bearing seat 463, which is slidably snapped onto the outer wall of the cross-shaped insert post 461 near the decoupling ring 41, is snapped onto the outer wall of the same end as the process plug 1. A sleeved on the cross-shaped insert post is snapped onto the opposing surfaces of the shaft seat 462 and the main bearing seat 463. An axial spring 464 is attached to the outer wall of 461. A bushing 465 is snapped onto the outer wall of the cross-shaped insert post 461 away from the bearing seat 462. A rod 466 on the same side is snapped onto the outer wall of the bushing 465. A convex rod 467 that mates with the rod 466 is rotatably fitted on the outer side of the bottom wall of the process plug 1 away from the bearing seat 462. A roller clutch 468 that is threaded onto the outer wall of the convex rod 467 near the bearing seat 462 is snapped onto the outer wall of the main bearing seat 463. The outer wall of the end of the convex rod 467 away from the bearing seat 462 has a helical groove that matches the rod 466 on the same side, and the end face of the bearing seat 462 has a through hole through which the convex rod 467 passes.

[0039] The adaptive compensation process for axial runout: Prerequisite: Axial movement occurs between the cross-shaped insert post 461 and the process plug 1; When the cross-shaped insert post 461 and the coaxial seat 462 produce axial movement of any stroke, the synchronous control bushing 465 drives the same-side rod 466 and the outer wall spiral groove of the engagement rod 467 to produce relative tangential movement. This causes the engagement rod 467 to control the roller clutch 468 and the main bearing seat 463 to synchronously engage the threaded pair. Under the unidirectional rotational characteristic of the roller clutch 468, the main bearing seat 463 linearly adjusts the actual compression of the axial spring 464 under the combined support and guidance of the threaded tangential of the roller clutch 468 and the inner wall of the process plug 1. This dynamically corrects the axial clamping force between the process plug 1 and the cross-shaped insert post 461, and compensates for changes in the axial dimensions of the inner liner in real time. The entire process does not require machine stoppage or manual intervention. Axial reverse motion flexible environment adaptation of the cross-shaped interlocking post 461: By utilizing the unidirectional motion characteristics of the roller clutch 468, when the same-side rod 466 and the engagement rod 467 engage in reverse, the engagement rod 467 only drives the inner side of the roller clutch 468 to rotate, without affecting the engagement between the outer side of the roller clutch 468 and the main bearing 463. This ensures the current positional stability of the main bearing 463 without affecting the axial reverse motion of the cross-shaped insert 461.

[0040] The circuits and controls involved in this invention are all existing technologies and will not be described in detail here.

[0041] The above are merely embodiments of the present invention and do not limit the scope of the patent. Any equivalent structural or procedural transformations made based on the description and drawings of the present invention, or direct or indirect applications in other related technical fields, are similarly included within the scope of patent protection of the present invention.

Claims

1. A high-precision positioning and docking device for the inner liner end cap of a type IV hydrogen storage cylinder, comprising process plugs (1), arranged in pairs, and at least one pair, characterized in that: The process plug (1) is provided with a main body unit (2) on the outside, and a positioning unit (3) is provided inside the main body unit (2). The positioning unit (3) is provided with coaxiality adjustment units (4) at both ends symmetrically. The coaxiality adjustment unit (4) includes: The decoupling ring (41) is coaxially positioned on one side of the process plug (1); At least one corner block (42) is installed on the outer wall of the decoupling ring (41) in a circumferentially uniform manner; The edge ring (43) is snapped into the middle position of the inner wall of the decoupling ring (41); The reinforcing bars (44) are uniformly snapped together in a circumferential manner and installed on the inner wall of the edge ring (43); The crescent ring (45) is snapped onto one end of the reinforcing bar (44) near the axis of the edge ring (43); The side arc opening (46) is symmetrically opened in the middle of the outer wall of the vertical section on both sides of the crescent ring (45); The linkage rod (47) is snapped into the middle position of one end of the inner wall of the crescent rod near the axis of the decoupling ring (41).

2. The high-precision positioning and docking device for the inner liner end cap of a type IV hydrogen storage cylinder according to claim 1, characterized in that: The decoupling ring (41) has a key plate (411) circumferentially and uniformly snapped onto the end face away from the decoupling spring. A guide seat (412) is slidably snapped onto the middle position of the key plate (411). A guide rod (413) is slidably snapped onto the middle position of the guide seat (412) and is fitted with the same key plate (411). A straight crank (414) is rotatably fitted onto the outer wall of the guide rod (413) away from the decoupling ring (41). The straight crank (414) is coaxially arranged with the outer wall of the guide rod (413) on the side away from the decoupling ring (41). The angular crank (415) is rotatably fitted and installed, and the lengths of the angular crank (415) and the straight crank (414) are equal. The ends of the angular crank (415) and the straight crank (414) away from the guide rod (413) are rotatably fitted with tooling rods (416) that are slidably snapped together with the same side arc opening (46). The tooling rod (416) passes through the crescent ring (45). A ball sleeve (417) is snapped together at the middle position of the tooling rod (416). The ball sleeve (417) is slidably snapped together with the inner wall of the crescent ring (45) near the axis of the tooling ring (43).

3. The high-precision positioning and docking device for the inner liner end cap of a type IV hydrogen storage cylinder according to claim 2, characterized in that: Fish-shaped blocks (421) are uniformly snapped onto the inner wall of the tooling ring in a circumferential manner, in pairs, and at least in pairs. Furthermore, the two fish-shaped blocks (421) in the same group are symmetrically distributed relative to the reinforcing column (44). A pressure-holding tube (422) is snapped onto the inner wall of the ball sleeve (417). A disc ring (423) is slidably snapped onto the inner wall of the end of the pressure-holding tube (422) away from the axis of the decoupling ring (41). An end rod (424) is snapped onto the center of the disc ring (423) in a through-type manner. A bottom ring (425) is snapped onto the inner wall of the end of the pressure-holding tube (422) near the decoupling ring (41). Furthermore, the bottom ring (425) and the end rod (424) are slidably snapped together, and the disc ring (423) and the bottom ring (425) are snapped together with a compression spring (426) sleeved on the outer wall of the end rod (424). The end of the end rod (424) away from the axis of the decoupling ring (41) is fitted with a ball (427) in a rolling fit. The end of the end rod (424) away from the ball (427) is snapped together with an arc plate (428). The outer walls of both ends of the arc plate (428) are snapped together with side ear seats (429), and one of the side ear seats (429) is hollow inside.

4. The high-precision positioning and docking device for the inner liner end cap of a type IV hydrogen storage cylinder according to claim 3, characterized in that: The pressure-holding tube (422) is fitted with a sealing sleeve (431) at one end near the axis of the decoupling ring (41). The inner wall of the sealing sleeve (431) is provided with a serpentine groove (432). The bottom ring (425) is provided with a lead sleeve (433) fitted with the outer wall of the same end rod (424) on the side opposite to the axis of the decoupling ring (41). The outer wall of the lead sleeve (433) is fitted with a lead rod (434) that matches the serpentine groove (432). The outer wall of the lead sleeve (433) is fitted with a continuously distributed arc rib (435) evenly in the circumferential direction. The corner arc plate (428) is fitted with an annular valve body (436) at the middle position of the end face away from the axis of the decoupling ring (41). The inner wall of the annular valve body (436) is fitted with a spring piston (437).

5. The high-precision positioning and docking device for the inner liner end cap of a type IV hydrogen storage cylinder according to claim 4, characterized in that: The hollow side lug (429) has a sealing plate (441) installed inside by a sealing ring. The end face of the sealing plate (441) is symmetrically fitted with a telescopic spring column (442) that is slidably fitted with the side lug (429). The end of the telescopic spring column (442) away from the axis of the end rod (424) is fitted with an outer support corner pad (443). The two side lugs (429) in the same group are fitted with a protective pad (444) that is slidably fitted between their opposite faces. 4) A protective plate (445) is snapped on one end away from the outer support corner pad (443). A flexible rubber ring (446) is snapped on the side of the outer support corner pad (443) near the axis of the decoupling ring (41). An angle joint (447) connected to the flexible rubber ring (446) is snapped on the side of the outer support corner pad (443) away from the axis of the decoupling ring (41). A limit post (448) is snapped on the middle position of one end of the protective pad (444) away from the axis of the decoupling ring (41).

6. The high-precision positioning and docking device for the inner liner end cap of a type IV hydrogen storage cylinder according to claim 5, characterized in that: The end pressure tubes (451) are evenly distributed in the middle of the guard plate (445) in a circumferential manner, and the end pressure tubes (451) and the guard plate (445) are connected in a through-type snap-fit ​​assembly. A sealing gasket (452) is snap-fitted on the inner wall of the end pressure tube (451), and a spring column (453) is installed in a through-type sliding snap-fit ​​at the center of the sealing gasket (452). A rubber ball (454) is snap-fitted on one end of the spring column (453) near the axis of the decoupling ring (41).

7. The high-precision positioning and docking device for the inner liner end cap of a type IV hydrogen storage cylinder according to claim 6, characterized in that: The process plug (1) has a cross-shaped insert post (461) slidably snapped onto the inner wall of one end. A shaft seat (462), which is slidably snapped onto the outer wall of the cross-shaped insert post (461) away from the decoupling ring (41), is also snapped onto the outer wall of the cross-shaped insert post (461), which is slidably snapped onto the outer wall of the cross-shaped insert post (461) near the decoupling ring (41). A main bearing seat (463), which is slidably snapped onto the outer wall of the cross-shaped insert post (461), is also snapped onto the outer wall of the cross-shaped insert post (461). A sleeved portion of the cross-shaped insert post (461) is also snapped onto the opposite surfaces of the shaft seat (462) and the main bearing seat (463). An axial spring (464) is attached to the outer wall of the cross-shaped insert (461). A bushing (465) is attached to the outer wall of the end of the insert (461) away from the bearing seat (462). A rod (466) is attached to the outer wall of the bushing (465). A convex rod (467) that mates with the rod (466) is rotatably mounted on the outer side of the bottom wall of the process plug (1) away from the bearing seat (462). A roller clutch (468) that is threadedly mounted on the outer wall of the convex rod (467) near the bearing seat (462) is attached to the outer wall of the process plug (1).

8. The high-precision positioning and docking device for the inner liner end cap of a type IV hydrogen storage cylinder according to claim 1, characterized in that: The main body unit (2) includes: There are two gantry columns (21), which are staggered and set outside the process plug (1); The bed base (22) is one in number and is snapped onto the end of the gantry column (21) near the ground; The anti-slip platform (23) is snapped onto the outside of the bed base (22); The gantry beam (24) is snapped between the opposite sides of the two gantry columns (21); Two tailstock moving guide rails (25) are symmetrically snapped onto the horizontal section of the bed base (22) on the side away from the ground. The tailstock housing (26) is slidably mounted between the two tailstock moving guide rails (25) via a sliding block.

9. The high-precision positioning and docking device for the inner liner end cap of a type IV hydrogen storage cylinder according to claim 8, characterized in that: The positioning unit (3) includes: There are two sets of uprights (31) and they are symmetrically distributed. One set of uprights (31) is arranged in an array on one side of the vertical section of the tail seat box (26) and the uprights (31) are rotatably fitted with the tail seat box (26); the other set of uprights (31) is rotatably fitted with one of the gantry columns (21). The tailstock (32) is installed in an array between the opposite surfaces of one of the gantry columns (21) and the tailstock box (26), and the tailstock (32) is rotatably fitted with the upright (31); A three-jaw chuck (33) is snapped into place between the opposite faces of the tailstock (32); The three-jaw chuck (34) is plugged into and snapped onto the shaft of the three-jaw chuck (33); The blocking chamber (35) is located between the three-jaw bearing (34) and the process plug (1) and is snap-fitted to the process plug (1); in addition, the decoupling ring (41) is located inside the blocking chamber (35) and the axes of the two coincide, while the corner block (42) is snap-fitted to the inner wall of the blocking chamber (35); Bottle valve seat (36) is symmetrically arranged between the two process plugs (1) in the same group, and the bottle valve seat (36) is threadedly fitted to the process plug (1); The hydrogen storage cylinder (37) is snapped between the two cylinder valve seats (36) in the same group; A three-phase asynchronous motor (38) is positioned opposite to the outside of the tailstock housing (26), and the output end of the three-phase asynchronous motor (38) passes through one of the gantry columns (21) and is snapped together with the vertical rod (31) in the middle of its interior. There are two sets of pulleys (39), which are arranged in a staggered arrangement. One set of pulleys (39) is respectively engaged with the outer walls of the two uprights (31) that are close to the ground at the end away from the tailstock box (26). The other set of pulleys (39) is respectively engaged with the outer walls of the two uprights (31) that are opposite to the ground at the end near the tailstock box (26).

10. The high-precision positioning and docking device for the inner liner end cap of a type IV hydrogen storage cylinder according to claim 7, characterized in that: The outer wall of the end of the convex rod (467) away from the bearing seat (462) has a spiral groove that matches the rod (466) on the same side, and the end face of the bearing seat (462) has a through hole through which the convex rod (467) passes.

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